A ROBUST TERMINAL SLIDING COMPOSITE ADAPTIVE CONTROL SCHEME FOR RIGID ROBOTS

Abstract

In this article is presented a robust adaptive control scheme for mechanical manipulators with finite error convergence time. The design combines, on the one hand, a composite adaptive controller that implements a feedback linearization control law that compensates the modelled dynamics, and, on the other hand, a terminal sliding mode control law that overcomes the uncertainties usually present in the real systems. Then, to avoid the chattering phenomenon inherent to the sliding schemes, the control law is also smoothed out. It is proved that the resulting closed loop system is stable and that the trajectory-tracking error converges to zero in finite time. Moreover, an upper bound of this error convergence time is calculated. Finally, the design is evaluated by means of simulations.